ABSTRACT
This paper proposes a method that improves autonomous vehicles localization using a modification of probabilistic laser localization like Monte Carlo Localization (MCL) algorithm, enhancing the weights of the particles by adding Kalman filtered Global Navigation Satellite System (GNSS) information. GNSS data are used to improve localization accuracy in places with fewer map features and to prevent the kidnapped robot problems. Besides, laser information improves accuracy in places where the map has more features and GNSS higher covariance, allowing the approach to be used in specifically difficult scenarios for GNSS such as urban canyons. The algorithm is tested using KITTI odometry dataset proving that it improves localization compared with classic GNSS + Inertial Navigation System (INS) fusion and Adaptive Monte Carlo Localization (AMCL), it is also tested in the autonomous vehicle platform of the Intelligent Systems Lab (LSI), of the University Carlos III de of Madrid, providing qualitative results.
ABSTRACT
INTRODUCCIÓN: El objetivo del estudio es validar los indicadores de calidad relevantes para la infección VIH de GESIDA, evaluando la fiabilidad, la factibilidad y la adhesión a los mismos. MÉTODOS: La fiabilidad fue evaluada mediante la reproducibilidad de 6 indicadores en revisión por pares, siendo el segundo observador una persona externa. La factibilidad y la medida del grado de cumplimiento de 22 indicadores se realizaron de forma fragmentada anual con recogida retrospectiva de la información a partir de bases de datos o de la historia clínica de los 9 hospitales participantes. RESULTADOS: La fiabilidad fue elevada con niveles de concordancia interobservador superiores al 95% en 5 de los 6 indicadores. La mediana de tiempo para realizar cada uno de los indicadores osciló entre 5 y 600 min, pero pudieron ser obtenidos progresivamente de bases de datos específicas, lo que posibilita la obtención automatizada de los mismos. En cuanto al cumplimiento de los indicadores, alcanzaron los estándares establecidos los relacionados con la evaluación inicial de los pacientes, indicación y adecuación del TAR a las guías, adherencia al TAR y seguimiento en consultas o alcanzar CV indetectables en la semana 48 del TAR. Respecto a los indicadores de prevención de infecciones oportunistas y control de comorbilidades, no se alcanzaron los estándares establecidos y se observó una heterogeneidad importante entre hospitales. CONCLUSIÓN: Los indicadores de calidad de infección VIH de GESIDA permiten medir de forma fiable y factible unos indicadores relevantes que deberían recoger todas las unidades que asisten a pacientes con infección por VIH
INTRODUCTION: The objective of the study is to validate the relevant GESIDA quality indicators for HIV infection, assessing the reliability, feasibility and adherence to them. METHODS: The reliability was evaluated using the reproducibility of 6 indicators in peer review, with the second observer being an outsider. The feasibility and measurement of the level of adherence to the 22 indicators was conducted with annual fragmented retrospective collection of information from specific databases or the clinical charts of the nine participating hospitals. RESULTS: Reliability was very high, with interobserver agreement levels higher than 95% in 5 of the 6 indicators. The median time to achieve the indicators ranged between 5 and 600 minutes, but could be achieved progressively from specific databases, enabling obtaining them automatically. As regards adherence to the indicators related with the initial evaluation of the patients, instructions and suitability of the guidelines for ART, adherence to ART, follow-up in clinics, and achieve an undetectable HIV by PCR at week 48 of the ART. Indicators of quality related to the prevention of opportunistic infections and control of comorbidities, the standards set were not achieved, and significant heterogeneity was observed between hospitals. CONCLUSION: The GESIDA quality indicators of HIV infection enabled the relevant indicators to be feasibly and reliably measured, and should be collected in all the units that care for patients with HIV infection
Subject(s)
Humans , HIV Infections/epidemiology , Quality of Health Care , Medication Therapy Management/organization & administration , Quality Indicators, Health Care , Quality Improvement , Patient Compliance , Medication AdherenceABSTRACT
INTRODUCTION: The objective of the study is to validate the relevant GESIDA quality indicators for HIV infection, assessing the reliability, feasibility and adherence to them. METHODS: The reliability was evaluated using the reproducibility of 6 indicators in peer review, with the second observer being an outsider. The feasibility and measurement of the level of adherence to the 22 indicators was conducted with annual fragmented retrospective collection of information from specific databases or the clinical charts of the nine participating hospitals. RESULTS: Reliability was very high, with interobserver agreement levels higher than 95% in 5 of the 6 indicators. The median time to achieve the indicators ranged between 5 and 600minutes, but could be achieved progressively from specific databases, enabling obtaining them automatically. As regards adherence to the indicators related with the initial evaluation of the patients, instructions and suitability of the guidelines for ART, adherence to ART, follow-up in clinics, and achieve an undetectable HIV by PCR at week 48 of the ART. Indicators of quality related to the prevention of opportunistic infections and control of comorbidities, the standards set were not achieved, and significant heterogeneity was observed between hospitals. CONCLUSION: The GESIDA quality indicators of HIV infection enabled the relevant indicators to be feasibly and reliably measured, and should be collected in all the units that care for patients with HIV infection.
Subject(s)
HIV Infections/therapy , Quality Indicators, Health Care/standards , Feasibility Studies , HIV Infections/epidemiology , Humans , Reproducibility of Results , Retrospective Studies , Spain/epidemiologySubject(s)
Arthritis, Infectious/diagnostic imaging , Tuberculosis, Osteoarticular/diagnostic imaging , Aged , Antitubercular Agents/therapeutic use , Arthritis, Infectious/drug therapy , Arthritis, Infectious/microbiology , Hand/diagnostic imaging , Hand/microbiology , Humans , Male , Radiography , Treatment Outcome , Tuberculosis, Osteoarticular/drug therapyABSTRACT
No disponible
Subject(s)
Male , Aged , Humans , Arthritis, Infectious/microbiology , Staphylococcus aureus/pathogenicity , Wrist Joint/microbiology , Tuberculosis, Osteoarticular/microbiology , C-Reactive Protein/analysis , Mycobacterium tuberculosis/isolation & purification , Anti-Bacterial Agents/therapeutic useSubject(s)
Fasciitis, Necrotizing/diagnosis , Streptococcus pyogenes/isolation & purification , Adult , Anti-Bacterial Agents , Coma/etiology , Combined Modality Therapy , Deglutition Disorders/etiology , Drainage , Drug Therapy, Combination/therapeutic use , Fasciitis, Necrotizing/diagnostic imaging , Fasciitis, Necrotizing/drug therapy , Fasciitis, Necrotizing/microbiology , Fasciitis, Necrotizing/surgery , Female , Humans , Male , Neck/diagnostic imaging , Tomography, X-Ray Computed , Wound Infection/complications , Wound Infection/microbiology , Elbow InjuriesABSTRACT
No disponible
